CN114200469A - Pyramid array-based laser detection system - Google Patents
Pyramid array-based laser detection system Download PDFInfo
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- CN114200469A CN114200469A CN202111502615.0A CN202111502615A CN114200469A CN 114200469 A CN114200469 A CN 114200469A CN 202111502615 A CN202111502615 A CN 202111502615A CN 114200469 A CN114200469 A CN 114200469A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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Abstract
A laser detection system based on pyramid array relates to the technical field of laser. The laser detection system based on the pyramid array comprises the pyramid array arranged on a target to be positioned, a laser device for emitting laser to the pyramid array, a receiving optical system for receiving laser reflected by the pyramid array, a four-quadrant detector for performing photoelectric conversion on the laser received by the receiving optical system, a front-end processing circuit electrically connected with the four-quadrant detector, an A/D sampling circuit electrically connected with the front-end processing circuit, a comparison circuit electrically connected with the A/D sampling circuit and a microcontroller processing circuit electrically connected with the comparison circuit, wherein the microcontroller processing circuit controls the laser device to emit laser; the pyramid array is composed of a pyramid prism arranged in the circle center and at least four pyramid prisms arranged at intervals along the circumference of the pyramid prism arranged in the circle center. The laser detection system based on the pyramid array can be used for carrying out high-precision positioning on the close-range flying target, is less influenced by the complexity of the target background, and has strong anti-interference capability.
Description
Technical Field
The application relates to the technical field of laser, in particular to a laser detection system based on a pyramid array.
Background
At present, flying targets are detected at home and abroad mainly by adopting image tracking for positioning, when the flying target is far away, the positioning precision of the image tracking can meet the system tracking requirement, but when the flying target is near, the positioning precision of the image tracking can not meet the system tracking requirement, because the image tracking related algorithm can only track the flying target and can not specifically track a specific part of the flying target, the positioning precision is poor.
For example, in a patent with patent publication No. CN103647937A entitled image tracking system and image data processing method thereof in the study of environmental characteristics of beijing, china, a scheme is proposed in which a DSP that performs gray scale conversion on acquired image data and changes a median value performs target search and tracking according to the changed image data. The inventor of the aircraft industry (group) limited of shenyang china proposed a scheme of tracking a target by receiving target data with a radar at a long distance and tracking by using image information and a laser range finder for assisting range finding at a short distance in a patent with a patent publication number of CN104064057A, namely an implementation method of complementary fusion of image tracking measurement data and radar measurement data.
The defects of the schemes are as follows: when the target distance is 3 km away, the positioning accuracy can meet the requirements of the system, when the target distance is short, the positioning accuracy is poor by using the image algorithm, and the image recognition effect is worse along with the complex target background.
Disclosure of Invention
The application aims to provide a laser detection system based on pyramid array can carry out high accuracy location to closely flying target, receives the target background complexity to influence less, and the interference killing feature is strong.
The embodiment of the application is realized as follows:
the embodiment of the application provides a laser detection system based on a pyramid array, which comprises the pyramid array, a laser device, a receiving optical system, a four-quadrant detector, a front-end processing circuit, an A/D sampling circuit, a comparison circuit and a microcontroller processing circuit, wherein the pyramid array is installed on a target to be positioned, the laser device is used for emitting laser to the pyramid array, the receiving optical system is used for receiving reflected laser of the pyramid array, the four-quadrant detector is used for carrying out photoelectric conversion on the received laser of the receiving optical system, the front-end processing circuit is used for converting current signals output by the four-quadrant detector into voltage signals, the A/D sampling circuit is used for sampling the voltage signals output by the front-end processing circuit, the comparison circuit is used for receiving output data of the A/D sampling circuit and comparing the output data with a set threshold value, and the microcontroller processing circuit is used for receiving the output data of the comparison circuit, and the microcontroller processing circuit controls the laser device to emit laser through a modulation driving circuit; the pyramid array is composed of a pyramid prism arranged in the circle center and at least four pyramid prisms arranged at intervals along the circumference of the pyramid prism arranged in the circle center.
In some optional embodiments, further comprising an emission optical system disposed between the laser and the pyramid array, the emission optical system comprising a fiber collimator.
In some optional embodiments, the voltage signal output by the front-end processing circuit is amplified by the amplifier circuit, and the signal amplified by the amplifier circuit is filtered by the band-pass filter circuit, and the a/D sampling circuit is electrically connected with the band-pass filter circuit.
In some optional embodiments, the receiving optical system comprises a first lens, a second lens and an aperture stop, which are arranged in sequence, and the aperture of the aperture stop is provided with a filter.
In some alternative embodiments, the microcontroller processing circuit is connected to a computer through an RS422 communication interface.
In some alternative embodiments, the pyramid array is composed of one pyramid prism disposed at the center of the circle and six pyramid prisms uniformly spaced along the circumference of the pyramid prism disposed at the center of the circle.
In some alternative embodiments, the laser is a fiber laser, and the emission peak power is 30W, and the wavelength of the emitted laser light is 1550 nm.
In some alternative embodiments, the emitting optical system and the receiving optical system are arranged in a common window.
The beneficial effect of this application is: the laser detection system based on the pyramid array comprises the pyramid array, a laser device, a receiving optical system, a four-quadrant detector, a front-end processing circuit, an A/D sampling circuit, a comparison circuit and a microcontroller processing circuit, wherein the pyramid array is installed on a target to be positioned, the laser device is used for emitting laser to the pyramid array; the pyramid array is composed of a pyramid prism arranged in the circle center and at least four pyramid prisms arranged at intervals along the circumference of the pyramid prism arranged in the circle center. The application provides a laser detection system based on pyramid array can carry out high accuracy location to closely flying the target, receives the target background complexity to influence less, and the interference killing feature is strong.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a laser detection system based on a pyramid array according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a pyramid array in a laser detection system based on a pyramid array according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a receiving optical system in a laser detection system based on pyramid array according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a laser spot in a laser detection system based on a pyramid array according to an embodiment of the present disclosure when the laser spot is irradiated on the center of a target surface of a four-quadrant detector
Fig. 5 is a schematic diagram of a laser spot in a pyramid array-based laser detection system provided by an embodiment of the present application when the laser spot is offset from the center of a target surface of a four-quadrant detector.
In the figure: 100. a pyramid array; 101. a pyramid prism; 110. a laser; 120. a receiving optical system; 121. a first lens; 122. a second lens; 123. a small aperture diaphragm; 124. an optical filter; 130. a four-quadrant detector; 131. a target surface; 132. laser facula; 140. a front-end processing circuit; 150. an A/D sampling circuit; 160. a comparison circuit; 170. a microcontroller processing circuit; 180. a modulation drive circuit; 190. an amplifying circuit; 200. a band-pass filter circuit; 210. an emission optical system; 220. a computer; 230. RS422 communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The characteristics and performance of the pyramid array-based laser detection system of the present application are further described in detail with reference to the following embodiments.
As shown in fig. 1, 2, 3, 4 and 5, an embodiment of the present application provides a laser detection system based on a pyramid array, which includes a pyramid array 100 installed on an object to be positioned, a laser 110 for emitting laser to the pyramid array 100, a receiving optical system 120 for receiving laser reflected by the pyramid array 100, a four-quadrant detector 130 for performing photoelectric conversion on the laser received by the receiving optical system 120, a front-end processing circuit 140 for converting a current signal output by the four-quadrant detector 130 into a voltage signal, an amplifying circuit 190 for amplifying the voltage signal output by the front-end processing circuit 140, a band-pass filtering circuit 200 for filtering a signal amplified by the amplifying circuit 190, an a/D sampling circuit 150 for sampling the voltage signal filtered by the band-pass filtering circuit 200, a comparing circuit 160 for receiving data output by the a/D sampling circuit 150 and comparing the data with a set threshold, and a comparing circuit 160 for receiving data output by the a/D sampling circuit 150 and comparing the data with the set threshold The microcontroller processing circuit 170 is used for outputting data by the comparison circuit 160, the microcontroller processing circuit 170 controls the laser 110 to emit laser by the modulation driving circuit 180, the microcontroller processing circuit 170 is connected with the computer 220 by the RS422 communication interface 230, the laser 110, the modulation driving circuit 180 and the microcontroller processing circuit 170 are electrically connected in sequence, and the four-quadrant detector 130, the front-end processing circuit 140, the amplifying circuit 190, the band-pass filter circuit 200, the A/D sampling circuit 150, the comparison circuit 160 and the microcontroller processing circuit 170 are electrically connected in sequence; the pyramid array 100 is composed of a pyramid prism 101 disposed at the center of the circle and six pyramid prisms 101 circumferentially spaced along the pyramid prism 101 disposed at the center of the circle, and two included angles between the six pyramid prisms 101 circumferentially spaced along the pyramid prism 101 disposed at the center of the circle are 60 degrees. An emission optical system is arranged between the laser 110 and the pyramid array 100, and the emission optical system 210 comprises a fiber collimator; the receiving optical system 120 comprises a first lens 121, a second lens 122 and an aperture diaphragm 123 which are sequentially arranged, an optical filter 124 is arranged at the aperture of the aperture diaphragm 123, the laser 110 is a fiber laser, the emission peak power is 30W, and the wavelength of the emitted laser is 1550 nm; the transmit optical system 210 and the receive optical system 120 are arranged in a common window.
The working principle of the laser detection system based on the pyramid array provided by the embodiment is as follows: the method comprises the steps that a pyramid array 100 consisting of a pyramid prism 101 arranged in the center of a circle and six pyramid prisms 101 arranged at intervals along the circumferential direction of the pyramid prism 101 arranged in the center of the circle is arranged on a flying target to be positioned, after the flying target takes off, a control command is input through a computer 220, the computer 220 transmits the control command to a microcontroller processing circuit 170 through an RS422 communication interface 230, the microcontroller processing circuit 170 controls a laser 110 to start emitting laser through an electrically connected modulation driving circuit 180, the laser emitted by the laser 110 is collimated through an optical fiber collimator and then is spread through the atmosphere and then covers the pyramid array 100 on the flying target, the laser emitted into the pyramid array 100 is reflected through three right-angle surfaces of the pyramid prism 101, the reflected light is emitted back from the direction parallel to the incident light and is received by a receiving optical system 120, and the emitted laser sequentially passes through a first lens 121, a second lens 120 and a second lens 121 of the receiving optical system 120, The second lens 122 and the aperture diaphragm 123 with the optical filter 124 disposed in the aperture are focused and irradiated on the target surface 131 of the four-quadrant detector 130, the four-quadrant detector 130 outputs a current signal to the front-end processing circuit 140, the front-end processing circuit 140 converts the current signal into a voltage signal and transmits the voltage signal to the amplifying circuit 190, the amplifying circuit 190 amplifies the voltage signal output by the front-end processing circuit 140 and outputs the voltage signal to the band-pass filter circuit 200, the band-pass filter circuit 200 filters the signal amplified by the amplifying circuit 190 and outputs the signal to the a/D sampling circuit 150, the a/D sampling circuit 150 samples the voltage signal filtered by the band-pass filter circuit 200 and outputs the signal to the comparison circuit 160, the comparison circuit 160 receives the data output by the a/D sampling circuit 150, compares the data with a set threshold value and outputs the signal to the microcontroller processing circuit 170, the microcontroller processing circuit 170 reads the four-way sampling result and calculates angle information and distance information, and then transmits the angle information and distance information to the computer through the RS422 communication interface 230, wherein when the focused laser is irradiated on the target surface 131 of the four-quadrant detector 130, as shown in fig. 3, when the position of the laser spot 132 is located at the center of the target surface 131 of the four-quadrant detector 130, which indicates that the laser spot 132 is exactly aligned with the flying target, as shown in fig. 4, when the position of the laser spot 132 is deviated from the center of the target surface 131 of the four-quadrant detector 130, which indicates that angle adjustment is required, the four-way sampling result detected by the four-quadrant detector 130 is converted, amplified, filtered, compared, and then transmitted to the microcontroller processing circuit 170 to calculate the angle information and distance information of the target to be positioned.
The laser detection system based on the pyramid array provided by the embodiment simultaneously realizes the functions of a distance detector and a positioning detector, adopts the fiber laser as a laser emission light source, has the advantages of small volume, high reliability and safety to human eyes, and simultaneously adopts the common window of the emission optical system 210 and the receiving optical system 120, thereby solving the problem of close-range tracking blind area; the laser irradiation angle cone array 100 is used as a positioning standard, the problem of spot positioning nonuniformity is solved, the method has the advantages of long detection distance, high precision and strong anti-interference capability, and the positioning precision can reach 0.1-0.2 mrad.
The embodiments described above are some, but not all embodiments of the present application. The detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Claims (8)
1. A laser detection system based on a pyramid array is characterized by comprising the pyramid array, a laser device, a receiving optical system, a four-quadrant detector, a front-end processing circuit, an A/D sampling circuit, a comparison circuit and a microcontroller processing circuit, wherein the pyramid array is installed on an object to be positioned, the laser device is used for emitting laser to the pyramid array, the receiving optical system is used for receiving reflected laser of the pyramid array, the four-quadrant detector is used for carrying out photoelectric conversion on the laser received by the receiving optical system, the front-end processing circuit is used for converting current signals output by the four-quadrant detector into voltage signals, the A/D sampling circuit is used for sampling the voltage signals output by the front-end processing circuit, the comparison circuit is used for receiving output data of the A/D sampling circuit and comparing the output data with a set threshold value, and the microcontroller processing circuit is used for receiving the output data of the comparison circuit, the microcontroller processing circuit controls the laser to emit laser through the modulation driving circuit; the pyramid array is composed of a pyramid prism arranged in the circle center and at least four pyramid prisms arranged at intervals along the circumferential direction of the pyramid prism arranged in the circle center.
2. The pyramid array-based laser detection system of claim 1 further comprising an emission optical system disposed between the laser and the pyramid array, the emission optical system including a fiber collimator.
3. The pyramid array-based laser detection system according to claim 1, further comprising an amplifying circuit for amplifying the voltage signal outputted from the front-end processing circuit and a band-pass filtering circuit for filtering the signal amplified by the amplifying circuit, wherein the a/D sampling circuit is electrically connected to the band-pass filtering circuit.
4. The pyramid array-based laser detection system according to claim 1, wherein the receiving optical system includes a first lens, a second lens, and an aperture stop, which are arranged in sequence, and an optical filter is disposed at an aperture of the aperture stop.
5. The pyramid array-based laser detection system according to claim 1, wherein the micro-controller processing circuit is connected to a computer through an RS422 communication interface.
6. The laser detection system according to claim 1, wherein the pyramid array comprises a central pyramid prism and six central pyramid prisms arranged at regular intervals along the circumference of the central pyramid prism.
7. The pyramid array-based laser detection system according to claim 1, wherein the laser is a fiber laser, and emits 30W peak power and 1550nm wavelength laser light.
8. The pyramid array-based laser detection system according to claim 2, wherein the emitting optical system and the receiving optical system are arranged in a common window.
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